Polynomial Time Collision Detection for Manipulator Paths Specified by Joint Motions

Achim Schweikard

doi:10.1109/70.105397

Polynomial Time Collision Detection for Manipulator Paths Specified by Joint Motions

Achim Schweikard^*

^*Corresponding author for this work

Institute of Robotics and Cognitive Systems

15 Citations (Scopus)

Abstract

An exact collision detection algorithm is described and analyzed. The time bound considers the complexity of the solids, the number of joints, and the number of distinct collision configurations. A bound for the number of collision configurations can be taken directly from the input data. The algorithm is based on an exact treatment of trigonometric expressions. The representation of trigonometric constants is discussed in an appendix.

Original language	English
Journal	IEEE Transactions on Robotics and Automation
Volume	7
Issue number	6
Pages (from-to)	865-870
Number of pages	6
ISSN	1042-296X
DOIs	https://doi.org/10.1109/70.105397
Publication status	Published - 01.01.1991

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abstract = "An exact collision detection algorithm is described and analyzed. The time bound considers the complexity of the solids, the number of joints, and the number of distinct collision configurations. A bound for the number of collision configurations can be taken directly from the input data. The algorithm is based on an exact treatment of trigonometric expressions. The representation of trigonometric constants is discussed in an appendix.",

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Polynomial Time Collision Detection for Manipulator Paths Specified by Joint Motions

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